An open-source 3D printed underactuated robotic gripper

Tlegenov, Yedige; Telegenov, Kuat; Shintemirov, Almas

doi:10.1109/mesa.2014.6935605

Cited by 32 publications

(18 citation statements)

References 9 publications

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“…There are multiple research and commercial hands that have been developed over the past several years that are multi-joint, articulated hands. Of the hands that were chosen for comparison, the Dextrus Hand [57], InMoov Hand [58], Modular Hand [59], the iCub Hand [60], Athens Hand [61], Alaris Hand [62], and Brussels Hand [63] are open source hands (many of these hands also utilize additive manufacturing) that have recently been presented or described. The specifications for these hands as well as the Bebionic [8], iLimb [9], Michelangelo [37], SmartHand [17], Vanderbilt [13], and Vincent Hands [12] are listed in Table 3.…”

Section: Fabrication Of Hand Prototypementioning

confidence: 99%

Design and Fabrication of a Six Degree-of-Freedom Open Source Hand

Krausz

Rorrer

Weir

2016

IEEE Trans. Neural Syst. Rehabil. Eng.

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Currently, most externally powered prostheses are controlled using electromyography (or EMG), which is the measure of the electrical signals that are produced when voluntary muscle is contracted. One of the major problems is that there are a limited number of muscular control sites that can be used, which limits the complexity of the hands that are controllable. Many upper-limb prosthetics researchers are searching for methods to simply and effectively control complex prosthetic hands, and a significant number of these researchers have utilized virtual hands and other simulations to perform testing of these control algorithms (oftentimes on able bodied subjects). Thus, these control techniques remain firmly planted in the virtual realm, and the authors postulate that the development of a physical hand would help to validate results obtained through use of virtual hands and could help establish whether or not a given control scheme is realistically applicable for use by amputees. The development of such a hand would be beneficial for researchers in the field. A six degree-of-freedom hand was developed with such a purpose in mind, and two of the major goals of the project were that the hand be inexpensive and open source. The hand design is being shared on .

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Section: Fabrication Of Hand Prototypementioning

confidence: 99%

Design and Fabrication of a Six Degree-of-Freedom Open Source Hand

Krausz

Rorrer

Weir

2016

IEEE Trans. Neural Syst. Rehabil. Eng.

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“…Because the gripper is made up of a link and gear structure, it may not survive when subjected to a strong external force and will beome damaged during the gripping process. An open-source robotic gripper developed by Tlegenov and others [17] also has three fingers, where each finger has 2 DoFs. A single servo actuator is sufficient for driving the gripper owing to the combination of worm and spur gear.…”

Section: Manipulator End-effector Of Service Robotmentioning

confidence: 99%

Development of Anthropomorphic Robot Finger for Violin Fingering

Park¹,

Lee²,

Kim³

2016

ETRI Journal

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This paper proposes a robot hand for a violin‐playing robot and introduces a newly developed robot finger. The proposed robot hand acts as the left hand of the violin‐playing robot system. The violin fingering plays an important role in determining the tone or sound when the violin is being played. Among the diverse types of violin fingering playing, it is not possible to produce vibrato with simple position control. Therefore, we newly designed a three‐axis load cell for force control, which is mounted at the end of the robot finger. Noise is calculated through an analysis of the resistance difference across the strain gauge attached to the proposed three‐axis load cell. In order to ensure the stability of the three‐axis load cell by analyzing the stress distribution, the strain generated in the load cell is also verified through a finite element analysis. A sound rating quality system previously developed by the authors is used to compare and analyze the sound quality of the fourth‐octave C‐note played by a human violinist and the proposed robot finger.

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“…Additional losses due to the nature of the printing hardware is also inevitable (see Fig. 1a) [11]. Third, it is difficult to predict the physical behavior of imperfect 3D-printed mechanisms by using computer aided simulations due to numerous unknowns, i.e., material properties, stiffness and damping of parts, surface properties of the interacting parts such as friction coefficient, etc.…”

Section: Introductionmentioning

confidence: 99%

Functional generative design of mechanisms with recurrent neural networks and novelty search

Wolfe

Tutum

Miikkulainen

2019

Proceedings of the Genetic and Evolutionary Computation Conference

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Figure 1: (a) A gear that was fabricated with an FDM 3D printer and (b) the gcode file that was used to prepare the fabrication of the gear. The imprecision of FDM printers on smaller, detailed parts can be observed. ABSTRACTConsumer-grade 3D printers have made it easier to fabricate aesthetic objects and static assemblies, opening the door to automated design of such objects. However, while static designs are easily produced with 3D printing, functional designs with moving parts are more difficult to generate: The search space is too high-dimensional, the resolution of the 3D-printed parts is not adequate, and it is difficult to predict the physical behavior of imperfect 3D-printed mechanisms. An example challenge is to produce a diverse set of reliable and effective gear mechanisms that could be used after production without extensive post-processing. To meet this challenge, an indirect encoding based on a Recurrent Neural Network (RNN) is created and evolved using novelty search. The elite solutions of each generation are 3D printed to evaluate their functional performance on a physical test platform. The system is able to discover sequential design rules that are difficult to discover with other methods. Compared to direct encoding evolved with Genetic Algorithms (GAs), its designs are geometrically more diverse and functionally more effective. It therefore forms a promising foundation for the generative design of 3D-printed, functional mechanisms.

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An open-source 3D printed underactuated robotic gripper

Cited by 32 publications

References 9 publications

Design and Fabrication of a Six Degree-of-Freedom Open Source Hand

Design and Fabrication of a Six Degree-of-Freedom Open Source Hand

Development of Anthropomorphic Robot Finger for Violin Fingering

Functional generative design of mechanisms with recurrent neural networks and novelty search

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